负压爬壁机器人吸附系统研究

摘要

A negative pressure absorption system of climbing robots was deeply studied. Based on the utilization rate of the negative pressure climbing robot, the impacts of locomotion system on adsorption force's allocation were studied. According to the differences in the utilization rate of adsorption force,a number of locomotion mechanisms and sealing devices were presented and their compositive performances were analyzed. Through the thermo - dynamic analysis of the component, the process of state changes in suction's flow field was described,and the principles of the adsorption system were revealed. In order to illustrate the essence of the adsorption force provided by suction system ,the airflow state changes of the system was simulated by CFD. A climbing robot was presented to verify the stability and reliability of the absorption system.%系统研究了爬壁机器人的负压吸附系统.针对负压爬壁机器人的吸附力利用效率,研究了其运动系统结构对吸附力配置的影响.根据吸附力利用效率的差异,提出了若干移动机构及密封机构的构成方案并分析了其综合性能.对负压吸附系统各个元件进行了热力学分析,阐述了吸附系统的气路状态变化过程,揭示了吸附原理的实质.利用CFD对吸附系统气流在流场中的状态变化进行了仿真.最后,通过研制的负压式爬壁机器人样机验证了吸附系统的可靠性和稳定性.